CN113927369B - Comprehensive on-machine measuring device and method for rotary error motion of machine tool spindle - Google Patents

Comprehensive on-machine measuring device and method for rotary error motion of machine tool spindle Download PDF

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CN113927369B
CN113927369B CN202111075488.0A CN202111075488A CN113927369B CN 113927369 B CN113927369 B CN 113927369B CN 202111075488 A CN202111075488 A CN 202111075488A CN 113927369 B CN113927369 B CN 113927369B
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contact displacement
spindle
axis
mandrel
sensor
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CN113927369A (en
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孔刚
杨建中
陈吉红
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Huazhong University of Science and Technology
Wuhan Huazhong Numerical Control Co Ltd
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Huazhong University of Science and Technology
Wuhan Huazhong Numerical Control Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
    • B23Q2017/001—Measurement or correction of run-out or eccentricity

Abstract

The invention discloses a machine tool spindle rotation error motion comprehensive on-machine measuring device and a method, belonging to the field of precision measurement, and the device comprises: the device comprises a mandrel, first to fifth non-contact displacement sensors, a sensor bracket, a 3-axis precision adjusting platform, a connecting plate, an adjustable magnetic base and a data processing module; two non-contact displacement sensors are arranged at a first measuring point, and the other two non-contact displacement sensors are arranged at a second measuring point to measure the radial error motion of the main shaft; the connecting line of the corresponding points of the radial error motion of the two measuring points is the space direction of the axis of the main shaft, so that the inclination angle of the central axis of the main shaft in the rotation process is measured; and (3) realizing the on-machine measurement separation of the roundness error of the mandrel and the error movement of the spindle by using a Donaldson reverse method. The invention realizes the on-machine comprehensive measurement of radial error motion, axial error motion and inclination angle in the rotation process of the main shaft, effectively removes the influence of the roundness error of the mandrel and improves the measurement precision of the rotation error motion of the main shaft.

Description

Comprehensive on-machine measuring device and method for rotary error motion of machine tool spindle
Technical Field
The invention belongs to the technical field of precision measurement, and particularly relates to a device and a method for comprehensively measuring the rotary error motion of a machine tool spindle on machine.
Background
The method creates a manufacturing industry with international competitiveness, and is a necessary way for China to promote comprehensive national strength, guarantee national security and build a strong country in the world. The machine tool is used as a 'working master machine' in the manufacturing industry, is a device guarantee for creating modern manufacturing industry and realizing the transition from the large country of the manufacturing industry to the strong country of the manufacturing industry in China. The main shaft unit is a core part of the machine tool, and the performance index of the main shaft unit has a decisive influence on the processing performance of the whole machine tool. Since the spindle unit of the machine tool is an actuator that directly clamps a tool to perform cutting, the rotational error motion of the spindle is directly reproduced on the workpiece. For a long time, the precision of a machine tool spindle is taken as a necessary inspection item for machine tool delivery, and a dial indicator and an inspection bar are usually used for manually detecting the radial and axial runout of the spindle. However, this detection method has low accuracy and efficiency, and can only be implemented by manually rotating the spindle at an extremely low rotation speed. Therefore, comprehensive, accurate and efficient spindle rotation error detection method and equipment become key technologies urgently needed by the manufacturing industry.
The radial and axial runout of the spindle detected by the traditional method is a swing range of the dial indicator when the spindle is at an extremely low rotating speed. As a single value, it is clear that the error motion during the spindle revolution cannot be fully described. What we prefer is an error motion curve that is a function of spindle rotation angle. And it is desirable to be able to further study the error sources by means of error motion curves. At present, some scholars at home and abroad also propose methods or devices for measuring the rotation error motion of a main shaft by adopting a non-contact sensor. Anandan et al [ An LDV-based method for measuring axial and radial error motions of a micro spindle using a laser displacement sensor. However, the dimming process of the laser displacement sensor is extremely complex, and the intensity of reflected light is greatly influenced by the surface roughness and curvature of the measured mandrel. This causes great inconvenience to the on-machine measurement of the machine tool spindle in a workshop environment.
The main shaft not only can generate radial and axial error motion in the rotation process, but also the direction of the main shaft rotation axis can be constantly changed along with the change of the main shaft rotation angle. Spindle tilt errors can also have a very adverse effect on the dimensional accuracy and surface quality of the machined part. Some researchers have proposed methods and devices for measuring spindle tilt error. Huangyumei and the like [ air spindle inclination error measuring device and measuring method ] invents an air spindle inclination error measuring device and measuring method using two optical fiber displacement sensors. However, the device cannot measure the radial and axial errors of the spindle and cannot separate the roundness error of the measured spindle.
Because the axis of rotation of the spindle is not visible, the error motion of the spindle can only be measured indirectly by means of a workpiece (mandrel or ball) clamped to the spindle. The roundness error of the workpiece is inevitably mixed into the error motion of the spindle. Due to the difficulty in machining and manufacturing high-precision workpieces, an effective roundness error separation technique is required to improve the detection accuracy of the spindle error motion. The currently common roundness error separation methods mainly comprise a multipoint method, a multi-step method and a reverse method. The multipoint method adopts a plurality of sensors spaced at special angles to measure the error movement of the main shaft at the same time, and then a corresponding algorithm is used for separating out the roundness error from the data. In order to reduce the harmonic suppression phenomenon, the method has special spacing angle between the sensors, so that the method cannot be realized on a comprehensive measurement device for the rotation error motion of the main shaft. The multi-step method needs a sensor to measure the error motion of the main shaft for multiple times at a plurality of positions with the same angle interval, and has the problems of complicated steps and harmonic suppression. The reverse method can completely separate the roundness error of the mandrel from the rotation error of the spindle theoretically, but precise reverse equipment is needed, and most of the current researches are in a laboratory environment. The invention relates to a rotation error measuring device of an aerostatic spindle, which adopts a reverse method and can accurately separate the rotation error of the aerostatic spindle from the roundness error of a standard ball. However, the device is only suitable for the laboratory environment and cannot be applied to on-machine measurement of the machine tool spindle.
The comprehensive on-machine measuring device for the rotation error motion of the machine tool spindle, which is currently suitable for on-machine measurement of the machine tool spindle, can simultaneously measure the radial error, the axial error and the inclination angle error of the machine tool spindle and can effectively separate the roundness error of a spindle, has not been reported yet.
Disclosure of Invention
Aiming at the defects or the improvement requirements in the prior art, the invention provides a comprehensive on-machine measuring device and a comprehensive on-machine measuring method for the rotary error motion of a machine tool spindle, and aims to provide a comprehensive on-machine measuring device for the rotary error motion of the machine tool spindle, which is suitable for on-machine measurement of the machine tool spindle, can simultaneously measure the radial error, the axial error and the inclination angle error of the machine tool spindle, and can effectively separate out the roundness error of a spindle.
In order to achieve the above object, according to one aspect of the present invention, the following technical solutions are provided:
the utility model provides a lathe main shaft gyration error motion is synthesized at quick-witted measuring device, the lathe that is suitable for includes headstock, main shaft terminal surface navigation key, handle of a knife and machine tool workstation, should include at quick-witted measuring device: a mandrel, a first non-contact displacement sensor, a second non-contact displacement sensor, a third non-contact displacement sensor, a fourth non-contact displacement sensor, a fifth non-contact displacement sensor, a sensor bracket, a 3-axis precision adjusting platform, a connecting plate, an adjustable magnetic base and a data processing module, wherein,
the spindle is used as a measuring target of the first to fifth non-contact displacement sensors and clamped on the spindle through the tool holder, the axes of the spindle, the tool holder and the spindle are overlapped, and the spindle positions the angle position of the tool holder and transmits cutting torque through a pair of symmetrically-installed spindle end face positioning keys;
the first non-contact displacement sensor and the second non-contact displacement sensor are respectively arranged on the outer side of the wall surface of the mandrel corresponding to the first measuring point in a clearance manner along the direction of the feed shaft of the machine tool X, Y; the third and the fourth non-contact displacement sensors are respectively arranged on the outer side of the mandrel wall corresponding to the second measuring point in the direction of the feed shaft of the machine tool X, Y with a gap; the first measuring point and the second measuring point are both points on the axis of the mandrel, the first measuring point is on the axes of the first non-contact displacement sensor and the second non-contact displacement sensor, and the second measuring point is on the axes of the third non-contact displacement sensor and the fourth non-contact displacement sensor; the fifth non-contact displacement sensor is arranged below the bottom of the mandrel with a gap, and the axis of the fifth non-contact displacement sensor coincides with the axis of the mandrel;
the first to fifth non-contact displacement sensors are fixedly connected with the 3-axis precision adjusting platform through sensor supports, the 3-axis precision adjusting platform is fixedly connected to the adjustable magnetic base, and the adjustable magnetic base is adsorbed on a machine tool workbench through magnetic force;
the data processing module is used for receiving signals measured by the first to fifth non-contact displacement sensors and processing the signals to obtain radial, axial and inclination angle errors and/or mandrel roundness errors of the machine tool spindle.
Preferably, when the Donaldson reverse method is adopted to separate the roundness error of the mandrel from the error of the spindle, the mandrel is reversely clamped on the spindle through the tool holder, the tool holder is reversely positioned on the spindle through the pair of symmetrically-installed spindle end face positioning keys, and the 3-axis precision adjusting platform is used to reversely rotate and position the first to fifth non-contact displacement sensors.
Preferably, the relative positions of the axes of the first to fifth non-contact displacement sensors and the axis of the mandrel in the X, Y feeding shaft direction and the rotation angle direction are adjusted by the 3-shaft fine adjustment platform, and after the adjustment, the misalignment deviation between the axes of the first to fifth non-contact displacement sensors and the axis of the mandrel in the X feeding shaft direction and the Y feeding shaft direction is not more than 1 μm.
Preferably, the first non-contact displacement sensor and the second non-contact displacement sensor are used for measuring the spindle radial error motion at the first measurement point.
Preferably, the third non-contact displacement sensor and the fourth non-contact displacement sensor are used for measuring the spindle radial error motion at the second measurement point.
Preferably, the fifth non-contact displacement sensor is for measuring an axial error movement of the mandrel.
As another aspect of the present invention, the following technical solutions are also provided:
the relative position adjusting method of the sensor and the mandrel of the device comprises the following steps:
(A1) moving the position of the main shaft, the machine tool workbench or the adjustable magnetic base to enable the axes of the first to fifth non-contact displacement sensors to be approximately aligned with the axis of the mandrel, namely the axes of the first and second non-contact displacement sensors are approximately aligned with the first measuring point, the axes of the third and fourth non-contact displacement sensors are approximately aligned with the second measuring point, and the axis of the fifth non-contact displacement sensor is approximately coincident with the axis of the mandrel;
(A2) rotating the Y-direction spiral micro-motion handle of the 3-axis precision adjusting platform to minimize the measurement value of the first non-contact displacement sensor, and locking a Y-direction locking nut of the 3-axis precision adjusting platform;
(A3) rotating the X-direction spiral inching handle of the 3-axis precision adjusting platform to minimize the measurement value of the second non-contact displacement sensor, and locking an X-direction locking nut of the 3-axis precision adjusting platform 12;
(A4) on the premise that the Y-direction locking nut and the X-direction locking nut are locked, the first to fourth non-contact displacement sensors are respectively moved along the Y direction or the X direction to adjust the distance between the first to fourth non-contact displacement sensors and the outer circular surface of the mandrel, the fifth non-contact displacement sensor is moved along the Z direction to adjust the distance between the fifth non-contact displacement sensor and the bottom surface of the mandrel, the measured value of each sensor is approximately in the middle position of the measuring range, and each sensor is fixed on the sensor support.
As another aspect of the present invention, the following technical solutions are also provided:
the method for measuring the inclination angle of the main shaft of the machine tool based on the device comprises the following steps:
(S1) adjusting by the 3-axis fine adjustment stage so that misalignment of the axes of the first to fifth non-contact displacement sensors with the axis of the mandrel in the X-feed axis direction and the Y-feed axis direction does not exceed 1 μm;
(S2) starting the main shaft to make it rotate stably at a specified rotating speed, recording the measured data of the first to fourth non-contact displacement sensors, and recording the data as delta X 1 (θ)、ΔY 1 (θ)、ΔX 2 (theta) and DeltaY 2 (θ), the plane angle Φ (θ) and the tilt angle α (θ) of the spindle axis during the revolution are respectively calculated by the following equations:
Figure BDA0003262123220000051
Figure BDA0003262123220000052
in the formula, θ is a spindle rotation angle, and d is a distance between the first and second measurement points in the Z feed axis direction.
As another aspect of the present invention, the following technical solutions are also provided:
the mandrel roundness error separation method based on the device comprises the following steps:
(T1) adjusting by a 3-axis fine adjustment stage so that misalignment deviation between the axis of the sensor and the axis of the mandrel in the X-feed axis direction and the Y-feed axis direction does not exceed 1 μm; the sensor is a first non-contact displacement sensor, a second non-contact displacement sensor, a third non-contact displacement sensor or a fourth non-contact displacement sensor;
(T2) starting the main shaft to make it rotate stably at a specified rotating speed, recording the measurement data of the sensor, and recording the data as M F (θ)；
(T3) reversely clamping the mandrel on the main shaft through the tool shank, reversely positioning the tool shank on the main shaft through a pair of symmetrically-installed main shaft end face positioning keys, and reversely rotating and positioning the sensor through the 3-shaft precision adjusting platform; the reverse rotation directions and angles of the tool handle and the sensor are the same;
(T4) reversing and adjusting again by the 3-axis fine adjustment stage so that misalignment between the axis of the sensor and the axis of the mandrel in the X-feed axis direction and the Y-feed axis direction does not exceed 1 μm;
(T5) starting the main shaft to make it rotate stably at a specified rotating speed, recording the measurement data of the sensor, and recording the data as M R (θ); the spindle error motion S (θ) and the mandrel roundness error R (θ) are calculated by the following equations, respectively:
Figure BDA0003262123220000061
Figure BDA0003262123220000062
in general, compared with the prior art, the above technical solution contemplated by the present invention can achieve the following beneficial effects:
the invention provides a machine tool spindle rotation error motion comprehensive on-machine measuring device, which is characterized in that 5 non-contact displacement sensors, namely a first non-contact displacement sensor, a second non-contact displacement sensor, a third non-contact displacement sensor, a fourth non-contact displacement sensor, a fifth non-contact displacement sensor and a fourth non-contact displacement sensor are respectively arranged in the radial direction and the bottom axis direction of a mandrel and are respectively used for measuring radial error motion and axial error motion in the spindle rotation process, and measurement signals are processed, analyzed and calculated and result displayed through a data processing module. The spindle is clamped on the spindle through the tool shank, the two non-contact displacement sensors are arranged at a first measuring point at the upper part of the axis of the spindle, and the radial error motion of the spindle at the first measuring point is measured; two non-contact displacement sensors are arranged at a second measuring point at the lower part of the axis of the mandrel, and are used for measuring the radial error motion of the main shaft at the second measuring point; the two measuring points are spaced at a fixed distance along the Z-axis direction of the machine tool, and the connecting line of the corresponding points of the radial error motion of the two measuring points is the space direction of the axis of the main shaft, so that the inclination angle of the axis of the main shaft in the rotation process is measured; on-machine measurement separation of the roundness error of the mandrel and the error motion of the spindle is achieved by means of a Donaldson reverse method, wherein the reverse direction of the mandrel is achieved through reverse installation of the tool holder, and the reverse direction of each non-contact displacement sensor is achieved through rotational positioning of the 3-axis precision adjusting platform.
According to the invention, the spindle, the five non-contact displacement sensors and the corresponding clamping assembly parts are utilized to realize comprehensive measurement of radial error motion, axial error motion and inclination angle in the process of measuring the rotation of the spindle on machine, the influence of the roundness error of the spindle can be effectively removed, and the measurement precision of the rotation error motion of the spindle is improved. The invention has simple structure and convenient installation and adjustment, does not depend on main shaft rotating speed sensors such as a main shaft encoder and the like, and is suitable for the comprehensive on-machine measurement of the main shaft rotation error motion.
Drawings
FIG. 1 is a schematic diagram of an overall structure of a machine tool spindle rotation error motion integrated on-machine measuring device according to an embodiment of the invention;
FIG. 2(a) is a schematic representation of a reverse pre-measurement of mandrel roundness error separation measurement in an embodiment of the present invention;
FIG. 2(b) is a schematic representation of a reverse post measurement of mandrel roundness error separation measurement in an embodiment of the present invention;
FIG. 3 shows the radial error motion at the first measurement point when the spindle speed is 3000r/min according to an embodiment of the present invention;
FIG. 4 is a schematic representation of the spindle axis direction during a revolution period at a spindle speed of 3000r/min in accordance with an embodiment of the present invention;
FIG. 5 is a comparison of the mandrel roundness profile separated by the apparatus of the embodiment of the present invention and the mandrel roundness profile measured by the three-coordinate measuring machine.
The same reference numbers will be used throughout the drawings to refer to the same elements or structures, wherein:
1. the device comprises a main spindle box, 2 parts of a main spindle, 3 parts of a main spindle end face positioning key, 4 parts of a tool shank, 5 parts of a spindle, 6 parts of a first non-contact displacement sensor, 7 parts of a second non-contact displacement sensor, 8 parts of a third non-contact displacement sensor, 9 parts of a fourth non-contact displacement sensor, 10 parts of a fifth non-contact displacement sensor, 11 parts of a sensor support, 12.3-axis precision adjusting platform, 13 parts of a connecting plate, 14 parts of an adjustable magnetic base, 15 parts of a machine tool workbench, 16 parts of a signal conditioning and collecting module and 17 parts of a PC (personal computer).
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention; in addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified. The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present invention are used for distinguishing between different objects and not necessarily for describing a particular sequential order.
As shown in fig. 1, an embodiment of the present invention provides a machine tool spindle rotation error motion integrated on-machine measuring device, an applicable machine tool includes a spindle box 1, a spindle 2, a spindle end face positioning key 3, a tool shank 4 and a machine tool table 15, and the on-machine measuring device includes: the device comprises a mandrel 5, a first non-contact displacement sensor 6, a second non-contact displacement sensor 7, a third non-contact displacement sensor 8, a fourth non-contact displacement sensor 9, a fifth non-contact displacement sensor 10, a sensor support 11, a 3-axis precision adjusting platform 12, a connecting plate 13, an adjustable magnetic base 14 and a data processing module, wherein the data processing module comprises a signal conditioning and acquiring module 16 and a PC 17.
The connection relation is as follows: the mandrel 5 is used as a measured target of the first to fifth non-contact displacement sensors 6-10 and clamped on the main shaft 2 through the tool shank 4. The main shaft 2 positions the angle position of the tool holder 4 through a pair of symmetrically arranged main shaft end face positioning keys 3 and transmits cutting torque. During measurement, the spindle 2 rotates in the spindle head 1 at a predetermined rotational speed. The 5 non-contact displacement sensors with the same type and high precision, namely the first to fifth non-contact displacement sensors 6-10 are respectively arranged in the radial direction and the bottom axial direction of the mandrel 5 and are respectively used for measuring the radial error movement and the axial error movement in the rotation process of the main shaft. The displacement sensor is clamped to the sensor holder 11. The sensor bracket 11 is fixedly arranged on the 3-axis precision adjusting platform 12. The 3-axis precision adjusting platform 12 is fixedly arranged on the adjustable magnetic base 14 through a connecting plate 13. The adjustable magnetic base 14 is attracted to the machine tool table 15 by magnetic force. The measurement signals of the first to fifth non-contact displacement sensors 6-10 are subjected to a series of processing such as amplification, anti-aliasing filtering, analog-to-digital conversion and the like of the signal conditioning and acquisition module 16 and then transmitted to the PC 17 for analysis and calculation to obtain radial, axial and inclination angle errors and/or mandrel roundness errors of the machine tool spindle.
The first non-contact displacement sensor 6 is arranged on the outer side of the mandrel wall surface corresponding to the first measuring point in a clearance mode along the direction of the X feed axis of the machine tool, and the second non-contact displacement sensor 7 is arranged on the outer side of the mandrel wall surface corresponding to the first measuring point in a clearance mode along the direction of the Y feed axis of the machine tool and used for measuring radial error movement of the first measuring point; the first measurement point is a point on the axis of the mandrel 5 and on the axis of the first and second non-contact displacement sensors 6, 7.
The third non-contact displacement sensor 8 is arranged on the outer side of the mandrel wall surface corresponding to the second measuring point in a clearance mode along the direction of the X feeding axis of the machine tool, and the fourth non-contact displacement sensor 9 is arranged on the outer side of the mandrel wall surface corresponding to the second measuring point in a clearance mode along the direction of the Y feeding axis of the machine tool and used for measuring radial error movement of the second measuring point; the second measuring point is a point on the axis of the mandrel 5 and is on the axis of the third and fourth non-contact displacement sensors 6 and 7; the first and second measuring points are spaced at a fixed distance along the Z-axis direction of the machine tool.
A fifth non-contact displacement sensor 10 is arranged with clearance below the bottom of the mandrel 5 and with an axis coinciding with the mandrel 5.
The relative positions of the axes of the first to fifth non-contact displacement sensors 6-10 and the axis of the mandrel 5 in the X direction, the Y direction and the rotation angle direction are precisely adjusted by the 3-axis precise adjustment platform 12. After adjustment, the misalignment between the axis of the displacement sensor and the axis of the mandrel 5 in the X direction and the Y direction is not more than 1 μm.
The first non-contact displacement sensor 6 and the second non-contact displacement sensor 7 measure the spindle radial error movement at a first measuring point on the upper part of the spindle axis. The third non-contact displacement sensor 8 and the fourth non-contact displacement sensor 9 measure the spindle radial error movement at a second measuring point below the spindle axis. A fifth non-contact displacement sensor 10 measures the axial error motion of the mandrel.
The axial direction of the main shaft in the rotation process is determined by the connecting line of corresponding points of radial error motion at the first measuring point and the second measuring point, and the inclination angle error of the main shaft under each rotation angle is calculated by the axial direction of the main shaft.
As shown in fig. 2(a) and 2(b), the apparatus uses the Donaldson inversion method to separate the roundness error from the spindle error of the mandrel 5. The reverse direction of the mandrel 5 is realized by reversely clamping the tool shank 4 on the main shaft 2. The reverse positioning of the tool shank 4 on the main shaft 2 is ensured by a pair of symmetrically arranged main shaft end face positioning keys 3. The reversal of the displacement sensor is achieved by the 3-axis fine adjustment of the positioning of the axis of rotation of the platform 12.
In the present embodiment, the non-contact displacement sensor employs a high-precision capacitive displacement sensor having a measurement precision of ± 0.02% FSR (full range), a bandwidth of 5 khz. However, this is not intended to limit the present invention, and the present invention may be applied to a non-contact type displacement sensor of other types and specifications.
In this embodiment, the relative position of the sensor and the mandrel is first adjusted before measurement is started so that the misalignment of the axes does not exceed 1 μm. The adjusting steps are as follows:
1) after the mandrel 5 is installed, the positions of the machine tool spindle 2, the workbench 15 or the adjustable magnetic base 14 are moved, so that the axes of the sensors 6-10 are approximately aligned with the axis of the mandrel.
2) Observing the measured distance value (namely the distance between the surface of the sensor and the surface of the mandrel) of the first non-contact displacement sensor 6 of the corresponding software in the PC 17, and rotating the Y-direction spiral micro-motion handle of the 3-axis precision adjusting platform 12 to minimize the measured value of the first non-contact displacement sensor 6. At this time, the first non-contact displacement sensor 6 is aligned with the axis of the mandrel, and the Y-direction locking nut of the 3-axis precision adjusting platform 12 is locked.
3) And observing the measured distance value of the second non-contact displacement sensor 7, and rotating the X-direction spiral micro-motion handle of the 3-axis precision adjusting platform 12 to minimize the measured value of the second non-contact displacement sensor 7. At this time, the second non-contact displacement sensor 7 is aligned with the axis of the mandrel, and the X-direction locking nut of the 3-axis precision adjusting platform 12 is locked.
4) With the sensor axis aligned with the mandrel axis, each displacement sensor 6-10 is moved to adjust its distance from the mandrel surface so that the sensor measurement is approximately at its mid-range position. And tightening the sensor clamping screws on the sensor bracket to fix the sensor.
The first embodiment is as follows: the device is used for measuring the radial error of the main shaft
In this embodiment only the first non-contact sensor 6 and the second non-contact sensor 7, or the third non-contact sensor 8 and the fourth non-contact sensor 9 need be used. After the position of the sensor is adjusted according to the sensor position adjusting method, the main shaft is started to stably rotate at the appointed rotating speed. The measurement data of the first non-contact sensor 6 and the second non-contact sensor 7 are synchronously recorded as Δ X (θ) and Δ Y (θ), where θ is the corresponding main shaft rotation angle. The calculation formula of the radial error motion of the main shaft is as follows:
r(θ)＝r 0 +ΔX(θ)cos(θ)+ΔY(θ)sin(θ) (1)
in the formula r 0 The radius of the mandrel is preferred for ease of display of the added offset value when plotting the polar plot. The radial error motion of the spindle at the first measuring point when the spindle speed is 3000r/min, which is measured on a numerical control vertical machining center in the embodiment, is shown in fig. 3. Then, the corresponding spindle radial error value can be calculated according to the corresponding algorithm of the spindle radial error.
Example two: the device is used for measuring the axial error of the main shaft
Only the fifth non-contact sensor 10 needs to be used in this embodiment. After the position of the sensor is adjusted according to the sensor position adjusting method, the main shaft is started to stably rotate at the appointed rotating speed. The measurement data of the fifth non-contact sensor 10 is recorded. Then, the corresponding spindle axial error value can be calculated according to the corresponding algorithm of the spindle axial error.
Example three: utilize above-mentioned device to carry out main shaft inclination and measure
As shown in fig. 1, the first to fourth non-contact sensors 6 to 9 need to be used in the present embodiment. The position of the sensor is adjusted according to the sensor position adjusting method, and the main shaft is started to stably rotate at the appointed rotating speed. The measurement data of the first to fourth non-contact sensors 6-9 are recorded. On the basis of the first embodiment, the radial error motion of the main shaft at the first measuring point and the second measuring point is calculated respectively. And connecting corresponding points of the error motion at the two measuring points to obtain the axis direction of the main shaft in the rotation process of the main shaft, as shown in fig. 4. Recording two measuring points and transmittingThe measured data of the sensors are respectively delta X 1 (θ)、ΔY 1 (θ)、ΔX 2 (theta) and DeltaY 2 (theta), the plane angle phi (theta) and the inclination angle alpha (theta) of the main shaft axis during the rotation process can be calculated by the following formula.
Figure BDA0003262123220000121
Figure BDA0003262123220000122
In the formula, theta is the main shaft rotation angle, and d is the Z-direction distance between the first measuring point and the second measuring point.
Example four: mandrel roundness error separation by using the device
As shown in fig. 2, only one displacement sensor, such as the first non-contact displacement sensor 6, may be used in this embodiment. The position of the sensor is adjusted according to the sensor position adjusting method, and the main shaft is started to stably rotate at the appointed rotating speed. Recording the measurement data of the first contactless sensor 6, denoted as M F (theta). And then reversely clamping the mandrel 5 on the main shaft 2 through the tool shank 4. The rotation axis of the 3-axis fine adjustment stage 12 is adjusted so that the first non-contact sensor 6 is rotated by 180 ° (in accordance with the rotation direction and angle of the mandrel 5). And (4) adjusting the position of the sensor again according to the sensor position adjusting method of the steps 1) -4), and starting the main shaft to stably rotate at the same specified rotating speed. Recording the measurement data of the first non-contact sensor 6 after the reversal, and recording the measurement data as M R (θ)。
Due to measurement data M F (theta) and M R (theta) both contain the spindle error motion S (theta) and the mandrel roundness error R (theta), and the sign of the spindle error motion S (theta) in the two measurements taken after the reversal is reversed. Thus, there is the following relationship:
M F (θ)＝R(θ)+S(θ) (4)
M R (θ)＝R(θ)-S(θ) (5)
the main shaft error motion S (theta) and the mandrel roundness error R (theta) can be calculated by the following formulas (4) and (5):
Figure BDA0003262123220000123
Figure BDA0003262123220000124
the results of comparing the mandrel roundness profile isolated in this example with the mandrel roundness profile measured by a three-coordinate measuring machine are shown in fig. 5. It can be seen that the two roundness contour lines are basically consistent, which illustrates the feasibility of separating the roundness error of the mandrel and the error motion of the spindle by using the device.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. A comprehensive on-machine measuring method for rotary error motion of a machine tool spindle is characterized by comprising a mandrel roundness error separation method, which comprises the following steps:
(T1) adjusting by a 3-axis fine adjustment table (12) so that misalignment between the axis of the sensor and the axis of the mandrel (5) in the X-feed axis direction and the Y-feed axis direction does not exceed 1 μm; the sensor is a first non-contact displacement sensor (6), a second non-contact displacement sensor (7), a third non-contact displacement sensor (8) or a fourth non-contact displacement sensor (9);
(T2) starting the main shaft to rotate stably at a specified rotating speed, and recording the measurement data of the sensor as M F (θ)；
(T3) reversely clamping the mandrel (5) on the main shaft (2) through the tool shank (4), reversely positioning the tool shank (4) on the main shaft (2) through a pair of symmetrically-installed main shaft end face positioning keys (3), and reversely rotating and positioning the sensor through the 3-shaft precision adjusting platform (12); the counter-rotating directions and angles of the tool handle (4) and the sensor are the same;
(T4) after reversing, adjusting again by the 3-axis fine adjustment platform (12) so that the misalignment between the axis of the sensor and the axis of the mandrel (5) in the X-feed axis direction and the Y-feed axis direction does not exceed 1 μm;
(T5) starting the main shaft to make it rotate stably at a specified rotating speed, recording the measurement data of the sensor, and recording the data as M R (θ); the spindle error motion S (θ) and the mandrel roundness error R (θ) are calculated by the following equations, respectively:
Figure FDA0003735792660000011
Figure FDA0003735792660000012
the method is based on the movement of the rotation error of the main shaft of the machine tool, the machine tool which is suitable for the on-machine measuring device comprises a main shaft box (1), a main shaft (2), a main shaft end face positioning key (3), a tool handle (4) and a machine tool workbench (15), and the on-machine measuring device comprises: a mandrel (5), a first non-contact displacement sensor (6), a second non-contact displacement sensor (7), a third non-contact displacement sensor (8), a fourth non-contact displacement sensor (9), a fifth non-contact displacement sensor (10), a sensor bracket (11), a 3-axis precision adjusting platform (12), a connecting plate (13), an adjustable magnetic base (14) and a data processing module, wherein,
the spindle (5) is used as a measuring target of first to fifth non-contact displacement sensors (6,7,8,9 and 10) and clamped on the spindle (2) through the tool shank (4), the axes of the spindle (5), the tool shank (4) and the spindle (2) are overlapped, and the spindle (2) positions the angle position of the tool shank (4) and transmits cutting torque through a pair of symmetrically-installed spindle end face positioning keys (3);
the first and second non-contact displacement sensors (6, 7) are respectively arranged on the outer side of the wall surface of the mandrel (5) corresponding to the first measuring point along the direction of the feed shaft of the machine tool X, Y with gaps; the third and the fourth non-contact displacement sensors (8, 9) are respectively arranged on the outer side of the wall surface of the mandrel (5) corresponding to the second measuring point in the direction of the feed shaft of the machine tool X, Y with gaps; the first measuring point and the second measuring point are both points on the axis of the mandrel (5), the first measuring point is on the axis of the first non-contact displacement sensor (6) and the second non-contact displacement sensor (7), and the second measuring point is on the axis of the third non-contact displacement sensor (8) and the fourth non-contact displacement sensor (9); the fifth non-contact displacement sensor (10) is arranged below the bottom of the mandrel (5) with a gap, and the axis of the fifth non-contact displacement sensor coincides with the mandrel (5);
the first to fifth non-contact displacement sensors (6,7,8,9 and 10) are fixedly connected with the 3-axis precision adjusting platform (12) through a sensor support (11), the 3-axis precision adjusting platform (12) is fixedly connected to the adjustable magnetic base (14), and the adjustable magnetic base (14) is adsorbed on a machine tool workbench (15) through magnetic force;
the data processing module is used for receiving signals measured by the first to fifth non-contact displacement sensors (6,7,8,9 and 10) and processing the signals to obtain radial, axial and inclination angle errors and/or mandrel roundness errors of the machine tool spindle.
2. The machine tool spindle gyration error motion integration on-machine measurement method according to claim 1, characterized in that, when the spindle (5) roundness error is separated from the spindle (2) error by means of the Donaldson reverse method, the spindle (5) is reversely clamped on the spindle (2) by the tool shank (4), the tool shank (4) is reversely positioned on the spindle (2) by the pair of symmetrically installed spindle end face positioning keys (3), and the first to fifth non-contact displacement sensors (6,7,8,9,10) are reversely rotated and positioned by the 3-axis precision adjustment platform (12).
3. The machine tool spindle revolution error motion comprehensive on-machine measuring method according to claim 1, characterized in that the relative positions of the axes of the first to fifth non-contact displacement sensors (6,7,8,9,10) and the axis of the spindle (5) in the direction of the feed axis and the direction of the revolution angle of X, Y are adjusted by the 3-axis fine adjustment platform (12), and after the adjustment, the misalignment deviation between the axes of the first to fifth non-contact displacement sensors (6,7,8,9,10) and the axis of the spindle (5) in the directions of the X feed axis and the Y feed axis is not more than 1 μm.
4. A machine tool spindle slewing error motion integrated on-machine measurement method according to claim 3, characterized in that the first non-contact displacement sensor (6) and the second non-contact displacement sensor (7) are used to measure the spindle radial error motion at the first measurement point.
5. A method for machine tool spindle slewing error motion integration on-machine measurement according to claim 4, characterized in that the third non-contact displacement sensor (8) and the fourth non-contact displacement sensor (9) are used to measure spindle radial error motion at the second measurement point.
6. The machine tool spindle rotational error motion integrated on-machine measurement method according to claim 5, characterized in that the fifth non-contact displacement sensor (10) is used to measure the axial error motion of the spindle (5).
7. The method for measuring the revolution error motion of the main shaft of the machine tool according to any one of claims 1 to 6, further comprising a method for adjusting the relative position of the sensor and the mandrel, comprising the steps of:
(A1) moving the position of the main shaft (2), the machine tool workbench (15) or the adjustable magnetic force base (14) to enable the axes of the first to fifth non-contact displacement sensors (6,7,8,9,10) to be approximately aligned with the axis of the mandrel (5), namely, the axes of the first and second non-contact displacement sensors (6, 7) are approximately aligned with the first measuring point, the axes of the third and fourth non-contact displacement sensors (8, 9) are approximately aligned with the second measuring point, and the axis of the fifth non-contact displacement sensor (10) is approximately coincident with the axis of the mandrel (5);
(A2) rotating the Y-direction spiral jogging handle of the 3-axis precision adjusting platform (12) to minimize the measurement value of the first non-contact displacement sensor (6), and locking the Y-direction locking nut of the 3-axis precision adjusting platform (12);
(A3) rotating the X-direction spiral jogging handle of the 3-axis precision adjusting platform (12) to minimize the measurement value of the second non-contact displacement sensor (7), and locking the X-direction locking nut of the 3-axis precision adjusting platform (12);
(A4) on the premise that the Y-direction locking nut and the X-direction locking nut are locked, the first to fourth non-contact displacement sensors (6,7,8 and 9) are respectively moved along the Y direction or the X direction to adjust the distance between the first to fourth non-contact displacement sensors and the outer circular surface of the mandrel, the fifth non-contact displacement sensor (10) is moved along the Z direction to adjust the distance between the fifth non-contact displacement sensor and the bottom surface of the mandrel, the measured value of each sensor is approximately in the middle position of the measuring range, and each sensor is fixed on a sensor support (11).
8. The method for measuring the rotation error motion of the main shaft of the machine tool according to any one of claims 1 to 6, which further comprises a method for measuring the inclination angle of the main shaft of the machine tool, and the method comprises the following steps:
(S1) adjusting by the 3-axis fine adjustment stage (12) so that misalignment of the axes of the first to fifth non-contact displacement sensors (6,7,8,9,10) and the axis of the mandrel (5) in the X-feed axis direction and the Y-feed axis direction does not exceed 1 μm;
(S2) starting the main shaft (2) to make it rotate stably at a specified rotating speed, recording the measured data of the first to fourth non-contact displacement sensors (6,7,8,9), and recording the data as delta X in sequence 1 (θ)、ΔY 1 (θ)、ΔX 2 (theta) and DeltaY 2 (θ), the plane angle Φ (θ) and the tilt angle α (θ) of the spindle axis during the revolution are respectively calculated by the following equations:
Figure FDA0003735792660000041
Figure FDA0003735792660000042
in the formula, θ is a spindle rotation angle, and d is a distance between the first and second measurement points in the Z feed axis direction.
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